AGV posture adjusting mechanism

Abstract

An AGV posture adjusting mechanism comprises a vehicle body, four driving assemblies are installed at the bottom of the vehicle body and arranged in a rectangular shape, and three supporting leg assemblies are further installed at the bottom of the vehicle body and arranged in a triangular shape; the supporting leg assembly comprises a worm and gear lifting machine, a motor mounting base and a supporting base, a speed reducer is mounted on the side face of the motor mounting base, the input end of the speed reducer is connected with an output shaft of a servo motor, and the output shaft of the speed reducer is in coaxial transmission connection with a worm of the worm and gear lifting machine through a coupler; the worm and gear lifter and the motor mounting seat are fixedly mounted in the vehicle body; the lower end part of a lifting screw rod of the worm and gear lifter is fixedly connected with a ball head; a ball cup is fixedly installed at the upper end of the supporting base and movably connected with the ball in a matched mode. According to the utility model, the defects in the prior art are overcome, and the posture of the vehicle body can be flexibly adjusted by controlling the servo motors of the three groups of supporting leg assemblies, so that the vehicle body can be kept stable under various complex terrains.

Description

Technical Field

[0001] This utility model relates to the field of transportation device technology, specifically to an AGV posture adjustment mechanism. Background Technology

[0002] As smart manufacturing upgrades its demands for flexible material handling via AGVs, high-dynamic scenarios typically require AGVs to have the ability to quickly and accurately adjust their position and orientation.

[0003] Existing attitude adjustment platforms typically employ a six-degree-of-freedom (DOF) approach, which usually requires multiple servo electric cylinders and complex hydraulic / pneumatic piping or cable wiring systems, resulting in high costs, complex structures, and difficult maintenance. Furthermore, integrating these platforms into the AGV vehicle platform leads to significant space requirements, consequently impacting the overall performance and operational efficiency of the AGV. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model provides an AGV posture adjustment mechanism that overcomes the deficiencies of existing technologies. By controlling the servo motors of three sets of outrigger components, the vehicle posture can be flexibly adjusted to ensure stability in various complex terrains.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] An AGV posture adjustment mechanism includes a vehicle body, four drive assemblies are installed at the bottom of the vehicle body in a rectangular arrangement, and three support leg assemblies are also installed at the bottom of the vehicle body in a triangular arrangement.

[0007] The outrigger assembly includes a worm gear jack, a motor mounting base, and a support base. A reducer is mounted on the side of the motor mounting base. The input end of the reducer is connected to the output shaft of a servo motor. The output shaft of the reducer is coaxially connected to the worm of the worm gear jack via a coupling. Both the worm gear jack and the motor mounting base are fixedly installed inside the vehicle body. A ball joint is fixedly connected to the lower end of the lifting screw of the worm gear jack. A ball joint seat is fixedly installed on the upper end of the support base, and the ball joint seat is movably connected to the ball joint.

[0008] Preferably, the drive assembly includes a drive motor, a reducer, and a Mecanum wheel. The drive motor is fixedly mounted on the bottom of the vehicle body via a support base. The output shaft of the drive motor is connected to the input end of the reducer, and the output end of the reducer is coaxially connected to the Mecanum wheel.

[0009] Preferably, a gasket is fixedly connected to the bottom of the support base.

[0010] Preferably, the bottom of the vehicle body is provided with a mounting groove, and the worm gear lift and the motor mounting base are both fixedly installed in the mounting groove by bolts.

[0011] This invention provides an AGV posture adjustment mechanism. It offers the following advantages: four drive assemblies enable omnidirectional movement of the vehicle body; three outrigger assemblies adaptively adjust according to ground conditions, ensuring the vehicle body remains stable; by controlling the speed and direction of the servo motor, the reducer drives the worm gear jack, which in turn rotates the worm, causing the lifting screw to move up and down, which in turn drives the support seat to adaptively raise and lower, achieving stable posture adjustment of the vehicle body. Furthermore, the ball joint and ball joint seat work together to achieve multi-angle adaptive adjustment of the support seat to adapt to different ground slopes, ensuring the support seat can stably support the vehicle body and prevent tipping. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in this utility model or the prior art, the accompanying drawings used in the description of the prior art will be briefly introduced below.

[0013] Figure 1 Structural diagram of this utility model Figure 1 ;

[0014] Figure 2 Schematic diagram of the structure of this utility model Figure 2 ;

[0015] Figure 3 A schematic diagram of the structure of the support leg assembly of this utility model;

[0016] Figure 4 Bottom view of this utility model;

[0017] Explanation of the labels in the diagram:

[0018] 1. Vehicle body; 2. Drive assembly; 3. Outrigger assembly; 21. Drive motor; 22. Mecanum wheel; 31. Worm gear lift; 32. Motor mounting bracket; 33. Support base; 34. Reducer; 35. Servo motor; 36. Coupling; 37. Ball joint; 38. Shim; 39. Mounting slot. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings.

[0020] Example 1, as Figures 1 to 4As shown, an AGV posture adjustment mechanism includes a vehicle body 1, four drive assemblies 2 are installed at the bottom of the vehicle body 1, the four drive assemblies 2 are arranged in a rectangular arrangement, and three support leg assemblies 3 are also installed at the bottom of the vehicle body 1, the three support leg assemblies 3 are arranged in a triangular arrangement.

[0021] The outrigger assembly 3 includes a worm gear jack 31, a motor mounting base 32, and a support base 33. A reducer 34 is mounted on the side of the motor mounting base 32. The input end of the reducer 34 is connected to the output shaft of the servo motor 35. The output shaft of the reducer 34 is coaxially connected to the worm of the worm gear jack 31 via a coupling 36. Both the worm gear jack 31 and the motor mounting base 32 are fixedly installed inside the vehicle body 1. A ball joint is fixedly connected to the lower end of the lifting screw of the worm gear jack 31. A ball joint seat 37 is fixedly installed on the upper end of the support base 33. The ball joint seat 37 is movably connected to the ball joint.

[0022] Working principle:

[0023] In practical operation, four sets of drive assemblies 2 drive the vehicle body 1 to move in all directions, while three sets of outrigger assemblies 3 adaptively adjust according to ground conditions to ensure the vehicle body 1 remains stable. During adjustment, the speed and direction of the servo motor 35 are controlled, which, through the transmission of the reducer 34, drives the worm gear lift 31 to rotate. This, in turn, moves the lifting screw in the worm gear lift 31 up and down, thereby causing the support seat 33 to adaptively rise and fall, achieving stable posture adjustment of the vehicle body 1. Furthermore, in this embodiment, the lower end of the lifting screw of the worm gear lift 31 interacts with the ball joint and ball joint seat 37 to achieve multi-angle adaptive adjustment of the support seat 33, adapting to different ground slopes and ensuring that the support seat 33 can stably support the vehicle body 1, preventing overturning.

[0024] The specific posture adjustment movements are as follows:

[0025] like Figure 4 As shown, the three outrigger assemblies 3 are outrigger assembly 3-A, outrigger assembly 3-B and outrigger assembly 3-C. When it is necessary to control the overall raising or lowering of the vehicle body 1, the servo motors 35 of the three outrigger assemblies 3-A, 3-B and 3-C can be controlled to operate synchronously, so that the lifting screw moves up and down synchronously, and the overall smooth raising and lowering of the vehicle body 1 can be achieved.

[0026] To control the forward tilt of vehicle body 1, the servo motor 35 of outrigger assembly 3-B can be rotated in the reverse direction, causing the lifting screw of outrigger assembly 3-B to retract the corresponding support seat 33 upwards. Simultaneously, the servo motors 35 of outrigger assemblies 3-A and 3-C can be rotated in the forward direction, causing the lifting screws of outrigger assemblies 3-A and 3-C to lift the corresponding support seats 33 downwards by a corresponding height, thus achieving forward tilt adjustment of vehicle body 1. In this state, the cargo on vehicle body 1 is lower at the front and higher at the rear. Similarly, to control the backward tilt of vehicle body 1, the servo motor 35 of outrigger assembly 3-C can be rotated in the reverse direction, causing the lifting screw of outrigger assembly 3-C to retract the corresponding support seat 33 upwards. Simultaneously, the servo motors 35 of outrigger assemblies 3-A and 3-B can be rotated in the forward direction, causing the lifting screws of outrigger assemblies 3-A and 3-B to lift the corresponding support seats 33 downwards by a corresponding height, thus achieving backward tilt adjustment of vehicle body 1.

[0027] Similarly, when it is necessary to control the left tilt of vehicle body 1, the servo motor 35 of outrigger assembly 3-A can be rotated in the opposite direction, causing the lifting screw of outrigger assembly 3-A to drive the corresponding support seat 33 to retract upwards. At the same time, the servo motors 35 of outrigger assemblies 3-B and 3-C can be rotated in the forward direction, causing the lifting screws of outrigger assemblies 3-B and 3-C to drive the corresponding support seat 33 to rise downwards by a corresponding height, thereby achieving the left tilt adjustment of vehicle body 1. When it is necessary to control the right tilt of vehicle body 1, the servo motors 35 of outrigger assemblies 3-B and 3-C can be rotated in the opposite direction, causing the lifting screw of outrigger assembly 3-A to drive the corresponding support seat 33 to retract upwards. At the same time, the servo motor 35 of outrigger assembly 3-A can be rotated in the forward direction, causing the lifting screw of outrigger assembly 3-A to drive the corresponding support seat 33 to rise downwards by a corresponding height, thereby achieving the right tilt adjustment of vehicle body 1.

[0028] By precisely controlling the servo motors of each outrigger component, the vehicle's posture can be flexibly adjusted, ensuring stability in various complex terrains and effectively improving operational safety and efficiency.

[0029] In Example 2, as a further preferred embodiment of Example 1, the drive assembly 2 includes a drive motor 21, a reducer, and a Mecanum wheel 22. The drive motor 21 is fixedly mounted on the bottom of the vehicle body 1 via a support base. The output shaft of the drive motor 21 is connected to the input end of the reducer, and the output end of the reducer is coaxially connected to the hub of the Mecanum wheel 22. The drive motor 21 provides power to the Mecanum wheel 22, and the omnidirectional steering characteristics of the Mecanum wheel 22 enable the vehicle body 1 to move flexibly in confined spaces, improving its adaptability to the working environment.

[0030] In Example 3, as a further preferred embodiment of Example 1, a pad 38 is fixedly connected to the bottom of the support base 33. By setting the pad 38 at the bottom of the support base 33, the ground pressure is effectively distributed, preventing damage to the outrigger assembly due to uneven force, extending the service life of the equipment, and enhancing the stability of the vehicle body under different ground conditions, ensuring a smooth and reliable operation.

[0031] In Example 4, as a further preferred embodiment of Example 1, a mounting groove 39 is provided at the bottom of the vehicle body 1. The worm gear jack 31 and the motor mounting base 32 are both fixedly installed in the mounting groove 39 by bolts. By installing the worm gear jack 31 into the mounting groove 39, the overall rigidity of the vehicle body structure is effectively enhanced, ensuring stability even during significant attitude adjustments. This further improves the equipment's impact resistance and durability, providing a solid guarantee for efficient operation in complex environments.

[0032] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. An AGV posture adjusting mechanism, comprising a vehicle body (1), four sets of driving assemblies (2) are arranged at the bottom of the vehicle body (1) in a rectangular arrangement, characterized in that: The bottom of the vehicle body (1) is also equipped with three sets of outrigger assemblies (3), which are arranged in a triangular pattern. The outrigger assembly (3) includes a worm gear lift (31), a motor mounting base (32), and a support base (33). A reducer (34) is mounted on the side of the motor mounting base (32). The input end of the reducer (34) is connected to the output shaft of the servo motor (35). The output shaft of the reducer (34) is coaxially connected to the worm of the worm gear lift (31) through a coupling (36). The worm gear lift (31) and the motor mounting base (32) are both fixedly installed inside the vehicle body (1). A ball head is fixedly connected to the lower end of the lifting screw of the worm gear lift (31). A ball head seat (37) is fixedly installed on the upper end of the support base (33). The ball head seat (37) is movably connected to the ball head.

2. The AGV attitude adjusting mechanism according to claim 1, characterized in that: The drive assembly (2) includes a drive motor (21), a reducer and a Mecanum wheel (22). The drive motor (21) is fixedly mounted on the bottom of the vehicle body (1) by a support base. The output shaft of the drive motor (21) is connected to the input end of the reducer. The output end of the reducer is coaxially connected to the Mecanum wheel (22).

3. The AGV attitude adjusting mechanism according to claim 1, characterized in that: A gasket (38) is fixedly connected to the bottom of the support base (33).

4. The AGV attitude adjusting mechanism according to claim 1, characterized in that: The bottom of the vehicle body (1) is provided with a mounting groove (39), and the worm gear lift (31) and the motor mounting base (32) are both fixedly installed in the mounting groove (39) by bolts.

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